Motion Planning Of Complex Robot With Serial-Parallel Joints

Traditional way of full denture manufacturing in medical science is manual with low efficiency and high rejection and we put forward the idea of tooth arrangement with multi-manipulator. It not only accords with the developmental trend of medical robot, but also accelerates the development of robot technique and the technology of full denture manufacturing in oral cavity repairing, so this project has good social effect and application foreground. Meanwhile the realization of tooth arrangement robot system with multi-manipulator proposes a new method and thought for the solution of kinematic modeling of serial-parallel joints and the problem of path control.This research firstly establishes Three-Dimension modeling of tooth arrangement robot 528 parts by 3D modeling software and analysis its working principle, and then the key parts of robot are described in details. Tooth-arrangement robot contains parallel joints and serial joints so that it can not use D-H method to build the coordinate system of robot, principle of the building of the coordinate system is building a coordinate system on every kinematic pair. Because of the particularity of the tooth arrangement robot, we only analyze the inverse kinematics of robot. Firstly, the pose matrix of coordinate system of each single tooth is determined, then using knowledge of coordinate transformation to establish transformation matrix between each coordinate system in order to solve the coordinate system of each joint. The control method of simulating CP is used to control the path of the tooth arrangement robot, and the programming method of MATLAB is adopted to calculate the coordinate of every insert value point between the beginning point and the target point of fitting point coordinate system. Finally, th kenimetic calculation and path control method are verified by experiment.Through the study of this project, on condition of knowing the parameters of jaw, the pose matrix of each joint can be calculated through the solving method of inverse kinematics, and then the pulse what stepping motor need can be calculated. The motion sequence of each motor is coordinated through path control of each joint, and it makes good prepare for overall control of the tooth-arrangement robot with multi-manipulator. Meanwhile the research in this thesis has important referent value to the robot kinematic problem of hybrid mechanism.